{"id":"https://openalex.org/W2172117433","doi":"https://doi.org/10.1109/tits.2008.2011697","title":"A Predictive Controller for Autonomous Vehicle Path Tracking","display_name":"A Predictive Controller for Autonomous Vehicle Path Tracking","publication_year":2009,"publication_date":"2009-01-30","ids":{"openalex":"https://openalex.org/W2172117433","doi":"https://doi.org/10.1109/tits.2008.2011697","mag":"2172117433"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2008.2011697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2008.2011697","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044452531","display_name":"Guilherme V. Raffo","orcid":"https://orcid.org/0000-0002-1835-8380"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"G.V. Raffo","raw_affiliation_strings":["Department of Systems Engineering and Automation, University of Seville, Seville, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025894572","display_name":"G.K. Gomes","orcid":null},"institutions":[{"id":"https://openalex.org/I4104125","display_name":"Universidade Federal de Santa Catarina","ror":"https://ror.org/041akq887","country_code":"BR","type":"education","lineage":["https://openalex.org/I4104125"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"G.K. Gomes","raw_affiliation_strings":["Department of Automation and Systems Engineering, Federal University of Santa Catarina, Porto Alegre, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation and Systems Engineering, Federal University of Santa Catarina, Porto Alegre, Brazil","institution_ids":["https://openalex.org/I4104125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012728420","display_name":"Julio E. Normey\u2010Rico","orcid":"https://orcid.org/0000-0002-6510-9803"},"institutions":[{"id":"https://openalex.org/I4104125","display_name":"Universidade Federal de Santa Catarina","ror":"https://ror.org/041akq887","country_code":"BR","type":"education","lineage":["https://openalex.org/I4104125"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"J.E. Normey-Rico","raw_affiliation_strings":["Department of Automation and Systems Engineering, Federal University of Santa Catarina, Florianopolis, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation and Systems Engineering, Federal University of Santa Catarina, Florianopolis, Brazil","institution_ids":["https://openalex.org/I4104125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033522571","display_name":"C.R. Kelber","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"C.R. Kelber","raw_affiliation_strings":["Department of Advanced Engineering, DHB Componentes Automotivos S. A., Porto Alegre, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Engineering, DHB Componentes Automotivos S. A., Porto Alegre, Brazil","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017420065","display_name":"Leandro Buss Becker","orcid":"https://orcid.org/0000-0003-1872-4771"},"institutions":[{"id":"https://openalex.org/I4104125","display_name":"Universidade Federal de Santa Catarina","ror":"https://ror.org/041akq887","country_code":"BR","type":"education","lineage":["https://openalex.org/I4104125"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"L.B. Becker","raw_affiliation_strings":["Department of Automation and Systems Engineering, Federal University of Santa Catarina, Florianopolis, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation and Systems Engineering, Federal University of Santa Catarina, Florianopolis, Brazil","institution_ids":["https://openalex.org/I4104125"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":20.0229,"has_fulltext":false,"cited_by_count":333,"citation_normalized_percentile":{"value":0.99327635,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"10","issue":"1","first_page":"92","last_page":"102"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8092663884162903},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7298259735107422},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6535569429397583},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6512508988380432},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6043243408203125},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5705620050430298},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5576968789100647},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5174365639686584},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.4890643060207367},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4455825388431549},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44433754682540894},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.41064780950546265},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.41009536385536194},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38626325130462646},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1957843005657196},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13870087265968323},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.13820943236351013},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13758563995361328},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.06510761380195618}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8092663884162903},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7298259735107422},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6535569429397583},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6512508988380432},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6043243408203125},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5705620050430298},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5576968789100647},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5174365639686584},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.4890643060207367},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4455825388431549},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44433754682540894},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.41064780950546265},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.41009536385536194},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38626325130462646},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1957843005657196},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13870087265968323},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.13820943236351013},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13758563995361328},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.06510761380195618},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2008.2011697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2008.2011697","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W90274328","https://openalex.org/W292508636","https://openalex.org/W1540492331","https://openalex.org/W1543610474","https://openalex.org/W1577238357","https://openalex.org/W1631404022","https://openalex.org/W1677636361","https://openalex.org/W1784236989","https://openalex.org/W1985772979","https://openalex.org/W2001490061","https://openalex.org/W2003248131","https://openalex.org/W2007064482","https://openalex.org/W2045960170","https://openalex.org/W2054451980","https://openalex.org/W2055765027","https://openalex.org/W2098960740","https://openalex.org/W2099293367","https://openalex.org/W2101188133","https://openalex.org/W2104889548","https://openalex.org/W2114878356","https://openalex.org/W2115476210","https://openalex.org/W2119735426","https://openalex.org/W2126581329","https://openalex.org/W2127516259","https://openalex.org/W2128204371","https://openalex.org/W2128908065","https://openalex.org/W2154256781","https://openalex.org/W2159765281","https://openalex.org/W2165306276","https://openalex.org/W2168595703","https://openalex.org/W2173271680","https://openalex.org/W4236071179","https://openalex.org/W6677777575","https://openalex.org/W7073965614"],"related_works":["https://openalex.org/W1998462347","https://openalex.org/W2349527210","https://openalex.org/W4300511988","https://openalex.org/W4229795303","https://openalex.org/W2141603307","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W1836713364","https://openalex.org/W130230158","https://openalex.org/W2536008974"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,38,44,69,98,104],"model":[4,106],"predictive":[5,51,100],"controller":[6,27,101],"(MPC)":[7],"structure":[8,135],"for":[9,83],"solving":[10],"the":[11,20,26,31,34,60,65,84,89,95,108,132,137,142],"path-tracking":[12],"problem":[13],"of":[14,107],"terrestrial":[15],"autonomous":[16,117],"vehicles.":[17],"To":[18],"achieve":[19],"desired":[21],"performance":[22,90],"during":[23],"high-speed":[24],"driving,":[25],"architecture":[28],"considers":[29],"both":[30],"kinematic":[32,49],"and":[33,64,91],"dynamic":[35,96],"control":[36,52],"in":[37],"cascade":[39],"structure.":[40],"Our":[41,78],"study":[42,46],"contains":[43],"comparative":[45],"between":[47],"two":[48],"linear":[50],"strategies:":[53],"The":[54],"first":[55],"strategy":[56,67,85],"is":[57,80,110,136],"based":[58,102],"on":[59,103],"successive":[61],"linearization":[62],"concept,":[63],"other":[66],"combines":[68],"local":[70],"reference":[71],"frame":[72],"with":[73,121],"an":[74,116,122],"approaching":[75],"path":[76],"strategy.":[77],"goal":[79],"to":[81],"search":[82],"that":[86,131,139],"best":[87],"comprises":[88],"hardware-cost":[92],"criteria.":[93,144],"For":[94],"controller,":[97],"decentralized":[99],"linearized":[105],"vehicle":[109,119],"used.":[111],"Practical":[112],"experiments":[113],"obtained":[114],"using":[115],"ldquoMini-Bajardquo":[118],"equipped":[120],"embedded":[123],"computing":[124],"system":[125],"are":[126],"presented.":[127],"These":[128],"results":[129],"confirm":[130],"proposed":[133],"MPC":[134],"solution":[138],"better":[140],"matches":[141],"target":[143]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":34},{"year":2023,"cited_by_count":30},{"year":2022,"cited_by_count":23},{"year":2021,"cited_by_count":29},{"year":2020,"cited_by_count":45},{"year":2019,"cited_by_count":34},{"year":2018,"cited_by_count":24},{"year":2017,"cited_by_count":22},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":15},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":8}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}